A non-contact, non-invasive laser fat reduction and body shaping robot system

Abstract

The invention discloses a non-contact, non-invasive laser fat reduction and body shaping robot system, comprising a laser light source module, a cooling system module, a treatment head, a mechanical arm and a control module; the laser light source module outputs laser and transmits it to the treatment head; the cooling system module sprays cold air; the treatment head is fixed at the front end of the mechanical arm, and data collected before treatment is sent to the control module; during treatment, the distance between the treatment head and the treatment area, the skin surface temperature of the treatment area, and the image of the treatment area monitored in real time are sent to the control module; the mechanical arm moves according to instructions to adjust the treatment head; before treatment, the control module inputs the image of the treatment area into a segmentation mask model to obtain a segmentation mask, obtains the thickness of the tissue layer, and formulates a treatment plan; during treatment, the mechanical arm movement is controlled according to the distance, the predicted temperature of the subcutaneous tissue is obtained according to the temperature prediction model, and the laser light source module and the cooling system module are controlled; according to image comparison and analysis, the mechanical arm is controlled to adjust in reverse according to tiny movements of the human body.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent devices, and in particular to a non-contact and non-invasive laser fat reduction and body shaping robot system. Background Art

[0002] Obesity has become a global health problem. It is not only a cosmetic problem for users, but also has serious systemic effects, leading to a variety of health problems such as heart disease, diabetes and high blood pressure, all of which may shorten life expectancy. Therefore, finding effective and safe weight loss methods is of great significance to improving public health.

[0003] Traditional weight loss methods are mainly based on exercise and dieting. Aerobic exercise relies on long-term, medium-to-low-intensity exercise to burn fat. Although it is safe, healthy, and can improve cardiopulmonary function, it takes a long time to see the effect, has limited effect on local body shaping, and the actual effect varies from person to person. Dieting reduces fat by reducing food intake. Although simple and easy, it may lead to malnutrition, affect metabolism, and easily rebound. Excessive dieting may also cause eating disorders such as anorexia or bulimia. In addition, another method is liposuction surgery - directly removing excess fat through surgery. Although this treatment has an immediate effect, there are certain surgical risks, large trauma, long recovery period, and may cause skin unevenness, infection, bleeding and other problems.

[0004] With the continuous development of minimally invasive fat reduction and body sculpting medicine, more and more minimally invasive or non-invasive fat reduction and body sculpting methods are applied in clinical practice. People can achieve the purpose of local fat reduction and muscle gain, improve body shape, and tighten skin through physical therapy, chemical drugs, traditional Chinese medicine, minimally invasive surgery and other minimally invasive or non-invasive methods, so as to achieve the purpose of minimally invasive cosmetic medicine for a healthy and beautiful image.

[0005] Minimally invasive fat reduction refers to the use of fine tools or chemical injection treatments to pierce the skin and perform small-scale fine operations to destroy fat, or even change the function of fat, so as to achieve body shaping cosmetic surgery or treatment. At present, the commonly used minimally invasive fat reduction and body shaping methods include: laser fiber lipolysis, radiofrequency lipolysis, ultrasonic lipolysis, cryolipolysis, high-intensity focused electromagnetic technology, traditional Chinese medicine fat reduction, injection lipolysis, minimally invasive liposuction, etc. Minimally invasive fat reduction surgery has the advantages of small incisions, less bleeding, and small wounds compared to invasive liposuction surgery, and is gradually replacing invasive liposuction surgery. Although minimally invasive fat reduction surgery can help people reduce fat quickly, it also has some disadvantages, such as: skin scars, necrosis of the flap in the surgical area, unevenness in the surgical area, wound infection, nerve damage and numbness, gastrocnemius atrophy and limited movement and other side effects.

[0006] The emergence of non-invasive fat reduction and body shaping technology has effectively solved the problems existing in invasive and minimally invasive surgeries. Currently, the widely used non-invasive fat reduction technologies mainly include cryolipolysis, laser lipolysis, radiofrequency lipolysis, etc. The main difference between them is the different types of energy acting on fat cells. These advanced technologies have many advantages such as high safety, significant efficacy, short postoperative recovery time, and relatively low cost. They have gradually emerged in the field of plastic surgery and become an ideal choice to replace traditional liposuction surgery. In particular, laser lipolysis has obvious advantages in ease of use, side effects, and effective treatment time, so laser non-invasive lipolysis technology has been more popular in recent years.

[0007] At present, laser non-invasive lipolysis technology usually uses 1060±20nm semiconductor lasers for treatment. The semiconductor laser with a surface cooling device is fixed to the user's treatment area with a specific fixing device. The high-power laser beam evenly heats the tissue in the entire treatment area. When the fat temperature rises to 45°C and lasts for 5 minutes, the cell membrane will be damaged. After the fat cells are continuously irradiated by a large-spot strong laser, the fat cell membrane is damaged, and an inflammatory reaction occurs locally. Finally, the damaged cells are removed, and the amount of remaining fat tissue is reduced, achieving the treatment purpose of fat reduction and body shaping.

[0008] The current laser non-invasive lipolysis equipment uses a semiconductor laser with a surface cooling device, which is fixed to the user's treatment area with a fixing device for treatment. The treatment device needs to be operated in close contact with the skin, which increases the discomfort of the patient. The treatment area and shape are fixed and not flexible enough. The treatment effect is uneven and requires manual operation. At the same time, the treatment head is often in contact with the skin and is prone to wear. Summary of the invention

[0009] The purpose of the present invention is to overcome the defects of the prior art and propose a non-contact and non-invasive laser fat reduction and body shaping robot system.

[0010] In order to achieve the above-mentioned purpose, the present invention proposes a non-contact non-invasive laser fat reduction and body shaping robot system, comprising: a laser light source module, a cooling system module, a treatment head and a mechanical arm, and a control module deployed on a host computer;

[0011] The laser light source module is used to output laser light in continuous and / or pulsed form and with different powers or energies according to the instructions of the control module, and transmit the laser light to the treatment head;

[0012] The cooling system module is used to spray cold air to the treatment area according to the instruction of the control module;

[0013] The treatment head is fixed at the front end of the mechanical arm, and is used to collect user-related data before treatment and send it to the control module; and is used to send the real-time monitored distance between the treatment head and the treatment area and the skin surface temperature of the treatment area, as well as the collected treatment area image, to the control module during treatment;

[0014] The mechanical arm is used to move and / or rotate according to the instructions of the control module to adjust the position and angle of the treatment head;

[0015] The control module is used to input the received treatment area image into a pre-trained segmentation mask model to obtain the segmentation masks of each layer before treatment, and then calculate the user's tissue layer thickness to formulate a treatment plan; during treatment, it is used to control the movement and / or rotation of the robotic arm according to the real-time received distance, obtain the predicted temperature of subcutaneous tissue at different depths through a pre-built temperature prediction model according to the real-time received temperature data, and control the laser light source module and the cooling system module; it is also used to conduct comparative analysis based on the real-time transmitted image, and control the robotic arm to make reverse adjustments according to the tiny movement of the human body.

[0016] Preferably, the laser light source module includes one or more laser sources, which are one or more of solid lasers, semiconductor lasers and fiber lasers.

[0017] Preferably, the laser light source module transmits the laser to the treatment head via a transmission optical fiber and an optical fiber coupling head.

[0018] Preferably, it is characterized in that the treatment head includes a spot shaper, which is vertically fixed at the center of the treatment head and is used to expand and shape the light spot emitted by the transmission optical fiber into a light spot of a certain area. The spot shaper includes: a transmission interface, a plano-convex lens, a biconcave lens and a Fresnel objective lens.

[0019] Preferably, the treatment head further comprises: an image acquisition unit, a distance sensor, a temperature sensor, an infrared imaging unit, a posture adjustment unit, a cooling spray unit and a posture adjustment unit, wherein:

[0020] The distance sensor is an ultrasonic distance sensor, an infrared distance sensor, a laser distance sensor or an optical distance sensor;

[0021] The posture adjustment unit adopts binocular camera technology to keep the treatment head parallel and aligned with the surface of the treatment area, or tangent to the treatment surface when the treatment surface is a curved surface.

[0022] Preferably, the input of the segmentation mask model is a treatment area image, and the output is a segmentation mask, and the segmentation mask model includes a convolutional neural network and a U-Net.

[0023] Preferably, the step of calculating the thickness of the user's tissue layer and formulating a treatment plan comprises:

[0024] The ultrasound image area is divided into grid areas. According to the mask information and the known conversion relationship between pixels and physical sizes, the thickness of the skin layer, dermis layer and fat layer corresponding to the unit grid area is calculated. The thickness calculation satisfies the following formula:

[0025] Thickness = (last row index - first row index + 1) × pixel spacing

[0026] Using the median filtering technique, the median value of the deep fat thickness of each scanned treatment area is selected as the normalized overall fat thickness of the area, and the treatment head path is planned in turn to formulate a treatment plan.

[0027] Preferably, the temperature prediction model includes a five-layer model of the epidermis, the upper dermis, the vascular convection layer, the lower dermis and the fat layer, and the thermal effect of the laser in the nth layer satisfies the following formula:

[0028]

[0029] Among them, n ranges from 1 to 5, corresponding to the epidermis, upper dermis, vascular convection layer, lower dermis and fat layer, ρ is the tissue density, ρ n is the tissue density of the nth layer, c n is the specific heat capacity of the nth layer, is the second-order spatial derivative of the temperature field, k n is the thermal conductivity of the nth layer, S n (r, z, t) is the heat source term of the nth layer, calculated according to the Lambert-Beer law, ρ4 is the tissue density of the subdermis, c4 is the specific heat capacity of the subdermis, is the blood perfusion rate of the nth layer, T art is the temperature of arterial blood, T ven is the temperature of the venous blood, i.e. the tissue temperature;

[0030] By establishing the initial temperature of each layer and the heat transfer boundary conditions of heat conduction and heat convection between biological tissues, the above model is constrained to obtain the constraint solution of the specified layer;

[0031] Among them, the heat conduction satisfies the following formula:

[0032]

[0033] in, is the heat flux vector, in W / m 2 , k is the thermal conductivity of the medium, the unit is W / (m·K), is the temperature gradient in K / m;

[0034] The heat transfer by thermal convection satisfies the following formula:

[0035] Q=ωbCbρb(Tb-T)

[0036] Where Q is the heat removed by blood perfusion, in W, and ωb is the blood perfusion rate, in m 3 / s or ml / min, cb is the specific heat capacity of blood, the unit is J / (kg·K), ρb is the density of blood, the unit is kg / m 3 , Tb is the temperature of the blood in K or °C, and T is the temperature of the tissue;

[0037] For the upper dermis, lower dermis and fat layer, the cell damage is monitored by the Arrhenius equation to prevent the damage of the upper dermis and lower dermis from being greater than 1, and at the same time ensure that the damage of the fat layer is greater than 1;

[0038] According to the temperature value of each layer, the output power of the laser light source module is adjusted.

[0039] Preferably, the system also includes a power management module for providing power to the laser light source module, the cooling system module, the robotic arm and the control module, and taking protective measures when an abnormality is detected.

[0040] Preferably, the control module includes a user interface, a data storage device, a communication interface, a fault self-checking unit and a remote diagnosis unit; wherein,

[0041] The user interface is used to display the treatment status in real time and to provide the function of inputting and modifying treatment parameters;

[0042] The data storage device is used to receive and store user-related data, treatment parameters and system status information, and provide a query function;

[0043] The communication interface includes a USB interface, an Ethernet interface and a wireless communication interface;

[0044] The fault self-checking unit is used to perform fault self-checking according to the temperature, current, voltage and coolant flow rate data provided by the sensor network;

[0045] The remote diagnosis unit is used to connect to the Internet via a wireless communication interface, transmit the system status data to a diagnosis server, and realize remote diagnosis.

[0046] Compared with the prior art, the advantages of the present invention are:

[0047] 1. The present invention can achieve fat reduction without contacting the skin and without manual control, replacing the pressure fitting method of traditional probes, reducing possible infection risks and increasing user comfort.

[0048] 2. The present invention can provide targeted fat reduction treatment plans according to the needs of different usage scenarios, and provide customized fat reduction plans for different parts of the body for different users, meeting the needs of different groups of people and greatly improving consumer satisfaction and experience.

[0049] 3. The treatment area is flexible. Different treatment areas and shapes can be customized according to individual actual conditions, ensuring that no area is missed during treatment and making the treatment area more uniform;

[0050] 4. Compared with current manual operation, the robot operation system has the advantages of high precision and accuracy. Through advanced image recognition and measurement technology, it can accurately analyze and operate the treatment area, thereby effectively improving the fat reduction effect. Compared with manual operation, robot operation can better ensure the accuracy and consistency of treatment.

[0051] 5. Fat reduction robot operation can improve the absolute safety of fat reduction. The safety of surgery in the medical beauty industry has always been a concern, and robot operation can greatly reduce surgical risks. Due to the high precision of robot operation, the risk of surgery can be minimized, and the operation can be completed more quickly and accurately, reducing the burden on the operator.

[0052] 6. The equipment also has a shaping effect: while destroying fat, the laser can also promote the regeneration of collagen, help tighten the skin in the treatment area, and effectively reduce the cost of beauty.

[0053] 7. Through regional grid division and median value selection, multiple regions can be processed simultaneously, further improving processing efficiency.

[0054] 8. The use of square homogenized optical fiber can obtain a flat-top light spot with uniform energy distribution, and can output light spots of different shapes at the same time. The optical path design is simple, and the distance between lenses can be adjusted according to treatment needs to form light spots of different sizes at a certain distance. The light beam focused by the Fresnel lens can be adjusted to be narrower (more concentrated) in the subcutaneous fat tissue and more diffuse on the skin surface, so that the heating rate of the skin surface is slower than that of the target fat tissue, thereby reducing the pressure of skin cooling and improving the utilization efficiency of the laser. The laser generator, laser shaping, and laser collimation and focusing are designed separately. Placing only the laser collimation and focusing part in the treatment probe can reduce the weight and volume of the treatment probe. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a structural diagram of the non-contact, non-invasive laser fat reduction and body shaping robot system of the present invention;

[0056] Figure 2 This is the structure diagram of the laser transmission module;

[0057] Figure 3 is a structural diagram of the light spot shaper;

[0058] Figure 4 It is the structural diagram of the treatment head;

[0059] Figure 5 It is the cooling system module structure diagram;

[0060] Figure 6 It is the control module composition diagram;

[0061] Figure 7 This is a schematic diagram of the appearance of the non-contact, non-invasive laser fat reduction and body shaping robot system;

[0062] Figure 8 It is the flow chart of the non-contact and non-invasive laser fat reduction and body shaping robot system.

[0063] Reference numerals

[0064] 101. Laser light source module

[0065] 102. Laser transmission system

[0066] 103. Treatment head

[0067] 104. Cooling system module

[0068] 105. Robotic Arm Module

[0069] 106. Control module

[0070] 107. Power Management Module

[0071] 201. Fiber optic coupling head

[0072] 202. Transmission Fiber

[0073] 301. Fiber Optic Interface

[0074] 302. Plano-convex lens

[0075] 303. Biconcave lens

[0076] 304, Fresnel objective lens

[0077] 401, Spot Shaper

[0078] 402. Image Acquisition System

[0079] 403. Distance Sensor

[0080] 404. Temperature Sensor

[0081] 405. Infrared Imaging System

[0082] 406. Posture Adjustment / Module

[0083] 407. Cooling injection system

[0084] 408. Treatment head shell

[0085] 501. Cooling transmission system

[0086] 502. Refrigerator

[0087] 503. Coolant pump

[0088] 504. Coolant reservoir

[0089] 505. Coolant Radiator

[0090] 601. User Interface

[0091] 602. Data storage device

[0092] 603. Communication Interface

[0093] 604. Fault self-diagnosis system

[0094] 605. Remote Diagnosis System

[0095] 606. Data Analysis and Processing System

[0096] 701, 1064nm semiconductor laser

[0097] 702. Fat Reduction Robotic Treatment Probe

[0098] 703. Fat Reduction Robot Arm

[0099] 704, air cooler

[0100] 705. Fat reduction robot central control module (CPU)

[0101] 706. Power supply for fat reduction robot

[0102] 707, Fat reduction robot equipment shell DETAILED DESCRIPTION

[0103] In order to overcome the above defects of current non-invasive laser lipolysis equipment, we designed a non-contact, non-invasive, intelligently controlled laser fat reduction robot. The basic principle is that the image acquisition system first scans and draws the user's area to be treated. The data processing system will combine the database through deep learning to achieve automatic recognition and measurement of specific targets in the image, and can give the best treatment plan based on feedback; the central controller divides the scanned area into several small areas to be treated; then the laser emits a laser, which is transmitted to the laser shaper. The laser shaper shapes the laser into a square flat-top beam of a certain area. Under the control of the robotic arm, the flat-top beam scans the small square areas to be treated in turn, and the distance sensor ensures that the robotic arm always maintains a fixed distance from the skin; due to the photothermal effect of the laser, the skin and fat tissue will gradually heat up. In order to ensure the stability of the skin surface temperature, cold air is sprayed on the skin; during the entire treatment cycle, the non-contact and non-invasive laser fat reduction robot system will evenly heat the entire treatment area, heat and maintain the subcutaneous fat tissue at 43 to 51°C to induce apoptosis of fat cells, and then dispose of the fat cells through the body's lymphatic system in the following 1-6 months, ultimately achieving non-contact and non-invasive laser fat reduction and body shaping.

[0104] The present invention discloses a non-contact and non-invasive laser fat reduction and body shaping robot system, which comprises a laser light source module, a laser transmission module, a cooling module, a treatment probe, a robotic arm, a control module, a power management module, a data storage module, an equipment fault self-check module, a remote control and diagnosis module, a display panel, an equipment housing, and a treatment area marking template.

[0105] The characteristics of the present invention are as follows: after the device is started, the device fault self-check module in the central processing system is started first, and the status of the device is self-checked to ensure that the device is in a healthy state. At the same time, the initial state of the device and the state during operation will be connected to the diagnosis server through the Internet or local area network through the remote control and diagnosis module of the central processing system for remote monitoring and diagnosis. Before the treatment begins, the image acquisition system located inside the treatment head will scan and draw a model map of the user's area to be treated, and transmit the data to the data analysis and processing system of the central processing system. The system combines the database through deep learning to realize automatic recognition and measurement of specific targets in the image, and can give the best treatment plan based on feedback; then, according to the needs of the treatment, a light source module of different modes is selected, and the laser emitted by the light source module is transmitted to the treatment head through the laser transmission module, and is shaped by the spot shaping system in the treatment head to form treatment spots of different shapes required for treatment; the cold air generated by the cooling system cools the treatment area to reduce the treatment area Temperature; The temperature sensor in the treatment probe will monitor the temperature of the treatment area in real time, and can calculate the subcutaneous temperature through a mathematical model, and feed back the real-time monitored temperature and the calculated temperature to the central processing system. In order to ensure the stability of the skin surface temperature, the cooling system will automatically adjust the cooling amount according to the temperature feedback to ensure that the skin is at a comfortable temperature. The cooling power and temperature will be adjusted according to the feedback of the temperature sensor and the overall treatment area thermal map generated by the central processor; During the treatment process, the treatment probe and the treatment area always maintain a fixed distance. The fixed distance is maintained by the distance sensor in the treatment probe, and the distance sensor and the central data processing system are linked. The treatment probe is fixed on the robotic arm, and the robotic arm moves according to the position information output by the central data processing system to treat the user's treatment area. The power supply of the system is controlled by the power management system, which provides a stable power supply for the laser light source module, cooling system module, robotic arm module, control module, etc. as needed, and ensures their normal operation. The user's treatment parameters, system status information, user information, etc. will be stored in the storage module of the central data processing system. The central data processing system displays the data in real time on the display panel. The operator and the user can view the treatment record, system status information, user information, etc. through the user interface on the display panel.

[0106] One of the features of the present invention is: a non-contact non-invasive laser fat reduction and body shaping robot system, such as Figure 1As shown, the laser light generated by the laser light source module 101 is transmitted to the treatment head 103 through the laser transmission module 102, the cold air in the cooling system module 104 reaches the treatment head 103 through the pipe 401, and is sprayed to the treatment area through the spray system in the treatment head, the treatment head 103 is fixed on the mechanical arm module 105, and the mechanical arm 105 transports the treatment head to the specified treatment position according to the instructions issued by the control module 106; the control module 106 is connected to the laser light source module 101, the cooling system module 104, the treatment head 103 and the mechanical arm module 105, and analyzes and issues corresponding instructions according to the information fed back by each part. The power supply of the system is controlled by the power management module 107, which provides stable power supply to the laser light source module 101, the cooling system module 104, the mechanical arm module 105, the control module 106, etc. as needed, and ensures their normal operation.

[0107] The second feature of the present invention is that the laser light source module 101 may include one or more laser sources, and the laser light source module 101 may output one mode of laser at a time or may output multiple modes of laser at the same time. The laser in the laser light source module may be a solid laser, a semiconductor laser, a fiber laser, etc., such as Er:YAG, Er,Cr:YSGG, Nd:YAG, Nd:glass, Er:glass or any other suitable laser light source; the wavelength may be visible light, near infrared light, far infrared light, etc., such as: 532nm, 980nm, 1064nm, 1320nm, 2940nm, etc.; the output form of the laser may be continuous output or pulse output, and may be output in one form or in two forms alternately. The laser power for continuous output may be 0-200W, such as: 50W, 100W, 150W, etc.; the pulse laser may be determined according to the frequency and pulse width of the laser, such as: nanosecond, picosecond, femtosecond laser, etc.

[0108] The third feature of the present invention is that the laser transmission module 102 is composed of a transmission optical fiber 202 and an optical fiber coupling head 201. Figure 2As shown. The core diameter of the transmission optical fiber can be 50um, 100um, 200um, 500um and other different sizes, and the shape of the core diameter can be circular or square; the transmission optical fiber 201 transmits the therapeutic laser generated by the multi-wavelength laser light source module 101 from the inside of the device to the treatment probe 103, and the spot shaper 401 in the treatment probe 103 shapes the laser spot, expands and shapes the spot emitted from the optical fiber, and shapes it into a spot of a certain area. The spot shaper 401 is in the treatment probe 101, and the shape of the spot shaped by the spot shaper 401 can be different shapes such as square, rectangle, circle, etc., and the size can be different areas; the spot shaping method can be different methods such as lens shaping, diffraction optical device shaping, spatial light modulator shaping, microlens shaping, fiber bundle shaping, etc. The spot shaper 401 is vertically fixed at the center of the treatment head 103 to ensure the precise alignment of the treatment beam.

[0109] The fourth feature of the present invention is that the spot shaper 401 is as follows: Figure 3 The structure shown includes: a transmission interface 301, a plano-convex lens 302, a biconcave lens 303 and a Fresnel objective lens 304. The laser is transmitted from the laser through a square homogenizing optical fiber 201, and the light spot is focused by a plano-convex lens 302 after passing through the optical fiber interface 301, and then the light spot is expanded by a biconcave lens 303 to form a divergent conical light beam, and the divergent conical light beam is focused by a Fresnel lens 304. Due to its special texture design, the Fresnel lens 304 effectively concentrates the light when passing through the lens, forming a light spot with a focusing function of a certain shape at a certain distance. In the non-contact non-invasive laser fat reduction system, the technical solution of focusing 304 by a Fresnel lens can increase the surface area of ​​the light spot acting on the skin compared to direct irradiation, so that the laser is more widely distributed on the skin surface. This dispersed distribution on the skin reduces the average power acting on the skin by expanding the area of ​​action of the laser spot, thereby reducing the heat absorbed by the skin per unit area, thereby reducing the thermal load on the skin surface without affecting the energy transfer efficiency to the subcutaneous fat. This solution can reduce the pressure of skin cooling and improve the efficiency of laser energy use. The system can adjust the distance between the lenses according to the treatment needs to form spots of different sizes at a certain distance to achieve personalized treatment.

[0110] The fifth feature of the present invention is that the treatment head 103 is equipped with a spot shaper 401, an image acquisition system 402, a distance sensor 403, a temperature sensor 404, an infrared imaging system 405, a posture adjustment module 406, a cooling spray system 407 and a treatment head shell 408. Figure 4The treatment head 103 is connected to the control module 106, and the data collected by the treatment head 103 is fed back to the control module 106. The treatment head 103 is fixed on the mechanical arm module 105. The mechanical arm module 105 is used to adjust the position of the treatment head 103. The mechanical arm module 105 may include a mechanical arm with six degrees of freedom or a mechanical arm with other degrees of freedom as required. The mechanical arm module 105 is controlled by the central processing system 106 to adjust the position of the positioning device as required, so as to accurately position the treatment head 103 to the treatment area.

[0111] Before the treatment begins, the image acquisition system 402 located inside the treatment head 103 will scan the image of the user's area to be treated and pass the image to the control module 106. The control module 106 processes the user's image by calling the model embedded in the control system in the early stage, and through data analysis and mining, it understands the fat distribution and temperature and the effect of laser treatment, and formulates a personalized treatment plan.

[0112] The sixth feature of the present invention is: a big data model is constructed through deep learning and convolutional neural networks, specifically: first, data collection is performed, ultrasound images containing epidermis, dermis and fat layers are collected, and expert annotation and approval are obtained. The image samples are samples covering different body shapes, ages and health conditions to ensure data diversity. Then the images are preprocessed including normalization, size unification, data enhancement and other means and techniques. And the data set is placed on a cloud server for subsequent training. Then a deep model is constructed, where a convolutional neural network model is used, and U-Net is used for image segmentation tasks. U-Net consists of an encoder and a decoder and is connected by skip connections, so that the spatial information of the image can be retained. The encoder gradually downsamples the image through a series of convolutional layers and maximum pooling layers to capture information. The decoder gradually restores the original image size by using upsampling layers (such as upsampling or transposed convolution), and combines the feature map of the encoding stage (through skip connections) to improve the segmentation accuracy. The output layer is one or more convolutional layers for generating segmentation masks, and each pixel classification represents the probability of belonging to the epidermis, dermis or fat layer. Dice Similarity Coefficient (DSC) formula and loss function (L Dc )as follows:

[0113]

[0114] Y pre Y represents the predicted segmentation mask (a binary matrix, 1 represents pixels predicted to be objects, and 0 represents background). tuRepresents the true segmentation mask (also a binary matrix). |·| represents the number of elements in the set, that is, the count of pixels in the mask. ∩ represents the intersection operation of the set. ∈ is a small positive number used to prevent division by zero. During the training process, the optimizer can be used to automatically adjust the learning rate. The training strategy implements an early stopping strategy to avoid overfitting; and cross-validation is used to evaluate the model performance to ensure the robustness of the model.

[0115] After training, the model output and result evaluation are performed. The model output is the segmentation mask of each layer. By analyzing the mask, the boundary of each layer is calculated, and then the thickness of each layer is obtained. The result evaluation is to calculate the actual tissue layer thickness based on the mask information and the known pixel-physical size conversion relationship.

[0116] Thickness = (last row index - first row index + 1) × pixel spacing

[0117] The +1 in the formula is to ensure that we are counting the total number of rows between the two indices (including both ends) so that we can get the total number of indices for each layer to facilitate our final thickness reading.

[0118] Finally, we use indicators such as Dice coefficient, Jaccard index, Hausdorff distance, etc. to evaluate the segmentation accuracy of the model on the validation set.

[0119] After the model is built, it starts to traverse the set training set for cloud training, and reserves some data sets for verification and testing. After the test is completed, the trained model is saved and integrated into the control system.

[0120] During operation, you only need to upload the ultrasound image to the system to identify the thickness of the corresponding skin layer, dermis layer, and fat layer.

[0121] Then the ultrasound image area is divided into grid-like areas, and the deep fat thickness measurement value of the unit grid area is obtained. The fat thickness value in the unit grid is analogous to the grayscale value in the image. The median filtering technology in the image denoising technology is used to select the middle value of the deep fat thickness of each scanned treatment area as the normalized overall fat thickness of the area, and the treatment head path is planned in turn. As a nonlinear filter, the median filter can not only complete the image denoising work in the image filtering algorithm, but also retain the relative gradient relationship and edge information of the image. Using the median filtering technology, after the fat thickness of the treatment area is normalized, the user's fat thickness and overall contour can still maintain the preoperative contour relationship and relative relationship after surgery, thereby improving the safety during surgery and the aesthetics after surgery.

[0122] According to the normalized overall fat thickness of each treatment area, the optimal parameter configuration is found through neural network analysis through the postoperative feedback of fat of different thicknesses, and the time and power of the 1064nm laser are allocated accordingly. The safety and effectiveness of laser treatment are ensured by precisely controlling the laser parameters. At the same time, the skin temperature can be monitored by a real-time temperature monitoring device. In the case of overheating of the skin, intelligent cold air jet cooling can be achieved to improve the safety of the experiment and reduce the side effect rate.

[0123] At the same time, the data generated during the measurement and processing can be stored and analyzed to provide rich reference information. Through data analysis and mining, we can further understand the fat distribution and temperature and the effect of laser treatment, and provide a scientific basis for formulating personalized treatment plans, thus forming a good positive feedback loop.

[0124] During the treatment process, the distance sensor 403 in the treatment head 103 monitors the distance between the treatment head and the skin surface of the treatment area in real time, and transmits the data to the control module 106. The control module 106 controls and monitors the adjustment of the mechanical arm module 105 so that the treatment head 103 always maintains a certain distance from the skin surface to ensure the safety and effectiveness of the treatment process. The distance sensor 403 can be an ultrasonic distance sensor, an infrared distance sensor, a laser distance sensor, an optical distance sensor, etc.

[0125] During the treatment process, the temperature sensor 404 in the treatment head 103 is responsible for monitoring the temperature of the skin surface in the treatment area. Once the detected temperature exceeds the preset safe temperature range, the module will communicate with the control module 106 and instruct to adjust the power output of the multi-wavelength laser light source module 101 and the temperature of the cooling system module 104 to ensure that the skin surface temperature is restored and maintained within the set temperature range. At the same time, the temperature sensor 404 transmits the collected skin surface temperature to the control module 106, and the control module 106 predicts the temperature of the subcutaneous tissue at different depths based on the mathematical model.

[0126] The seventh feature of the present invention is: the traditional contact temperature sensor used for temperature monitoring has large measurement errors and inconvenient operation; and the traditional mathematical modeling of non-contact sensors is divided into only two or three layers, ignoring the problem of unsatisfactory accuracy caused by heat conduction caused by the blood layer; at the same time, in order to further improve the reliability of temperature monitoring of the traditional three-layer or even two-layer modeling of skin and fat, we subdivide the 5-layer model to achieve more accurate modeling of fat and subcutaneous temperature, namely: epidermis, upper dermis, vascular convection layer, lower dermis, and fat layer. The reliability and authenticity of temperature modeling are improved, which is convenient for better real-time monitoring of temperature.

[0127] First, based on the thickness of the skin surface, dermis, and fat layer obtained from the user's ultrasound or MRI images, a five-layer model of the epidermis, upper dermis, vascular convection layer, lower dermis, and fat layer is constructed, and finite element analysis is used for analysis and processing. The thermal effect of laser in skin tissue conforms to the Pennes biothermal equation:

[0128]

[0129] Where n represents the layer of the model (1: epidermis, 2: upper dermis, 3: blood convection layer, 4: lower dermis, 5: fat layer), S(r, z, t) is the heat source term, ρ is the tissue density, c is the specific heat capacity, k is the thermal conductivity, ω b is the blood perfusion rate, T art is the temperature of arterial blood, T ven is the temperature of venous blood, that is, tissue temperature. Since the laser light source obeys Gaussian distribution, scattering and absorption will occur when the 1064nm laser interacts with biological tissue. At this time, scattering is dominant, and the Gaussian beam will be widened during the scattering process without generating heat. By considering the process of absorption and scattering, the heat source term can be treated according to the Lambert-Beer law:

[0130]

[0131] The entire model is constrained by establishing the initial temperature of each layer and establishing boundary conditions such as heat transfer through heat conduction and heat convection, and the constraint solution of the specified number of layers and different depths is obtained. Finally, the Arrhenius equation is used to monitor the cell damage of the dermis and fat layer to prevent the damage to the dermis from being greater than 1, while ensuring that the damage to the fat layer is greater than 1.

[0132] After completing the scan of one treatment area, the system moves to the next area and continues scanning until the entire target area is covered.

[0133] During the treatment process, the infrared imaging system 405 in the treatment head 103 collects real-time images of the treatment area and transmits them to the control module 106. The control module 106 processes the returned images and compares and analyzes them with the previous images. If the image is detected to have an overall displacement, the system determines that the human body has moved slightly. Then, the system will communicate with the control module 106 to instruct the robotic arm module 105 to make corresponding reverse adjustments to eliminate overlap or omission of the treatment area caused by slight movements of the human body, thereby ensuring the continuity and accuracy of the treatment.

[0134] During the treatment process, the posture adjustment module 406 in the treatment head 103 is used to ensure that the treatment head 103 remains parallel to the treatment surface, or when the treatment surface is a curved surface, it is tangent to it, so as to achieve uniform irradiation of the treatment spot on the skin surface to maximize the treatment effect. To adapt to different treatment surfaces, the posture adjustment module 406 can adjust the posture of the treatment head 103 in real time. The method for implementing this function can be to use binocular camera technology, which can scan the user's area to be treated and generate a three-dimensional model map. Subsequently, the model map is transmitted to the control module 106, and the control module 106 then guides the mechanical arm to perform precise scanning along the model surface to ensure that the treatment spot is correctly irradiated on the skin surface. Three or more distance sensors can also be installed at the end of the treatment head 103, which can measure the distance between the probe and the skin. By adjusting the mechanical arm, the distance between all measurement points and the skin surface is kept consistent, thereby ensuring the correct alignment of the treatment spot.

[0135] At least three distance sensors are arranged at the end of the treatment head to form a triangle (such as an equilateral triangle or an isosceles triangle).

[0136] Set the center of the end plane of the treatment probe as the origin of the object coordinate system, and obtain the coordinate information of the three distance sensors as P1 (x1, y1, z1), P2 (x2, y2, z2) and P3 (x3, y3, z3) z3), and the corresponding measured distances of the distance sensors are d1, d2, d3. Before data analysis, first check the data. If the difference between the three distances measured by the distance sensor is greater than 15cm, it is judged as abnormal data. To prevent laser leakage, stop the program immediately and wait for the staff to confirm that it is correct before resuming.

[0137] For each distance sensor, the coordinates of its detection point on the treatment surface are calculated. The plane normal vector formed by the sensors P1, P2, and P3 can be calculated through their coordinates.

[0138] Compute the vector between three points:

[0139]

[0140] Calculate the normal vector (cross product):

[0141]

[0142] Calculate sensor P i The corresponding detection point Q i (x′ i ,y′ i ,z′ i ):

[0143]

[0144] Solve the plane equation by calculating the three detection points Q1, Q2, and Q3:

[0145] Ax+By+Cz+D=0

[0146] Ax′1+By′1+Cz′1+D=0

[0147] Ax′2+By′2+Cz′2+D=0

[0148] Ax′3+By′3+Cz′3+D=0

[0149] Finally, the coefficients (A, B, C) and constant term (D) of the plane equation are solved to obtain the plane equation of the treatment surface.

[0150] After obtaining the plane equation of the treatment surface, calculate the angle between the plane and the plane where the sensor is located.

[0151] The normal vector of the plane equation of the known treatment surface is

[0152]

[0153] Calculate the angle between two normal vectors:

[0154]

[0155] Calculate the rotation axis (i.e. the cross product of the two normal vectors):

[0156]

[0157] Calculate the components of the rotation angle in the (x, y, z) direction:

[0158] Normalized rotation axis:

[0159]

[0160] Calculate the rotation vector:

[0161]

[0162] Finally, the angles at which the sensor plane needs to rotate in the x, y, and z directions are obtained, and the robotic arm is driven to rotate. While controlling the rotation of the sensor plane, the robotic arm is controlled to keep another distance sensor independent of the posture sensor at all times to ensure that the distance between the treatment probe and the treatment surface is fixed when the treatment probe is facing the treatment surface.

[0163] The eighth feature of the present invention is that the cooling system module 104 is transmitted to the cooling spray system 407 through the cooling transmission system 501, and the cooling spray system 407 sprays the skin of the treatment area to ensure that the skin temperature is in a comfortable state. The cooling spray system 407 is in the treatment head 103, and the cooling system module 104 includes a refrigerator 502, a coolant pump 503, a coolant storage 504, and a coolant radiator 505; the cooling system module 104, such as Figure 5 As shown, the power management module 107 supplies power to the cooling system module 104, and the cooling system module 104 is connected to and controlled by the control module 106 to adjust the coolant flow rate and temperature as needed to provide the required cooling effect.

[0164] The ninth feature of the present invention is that the power management module 107 provides a stable power supply to the laser light source module 101, the cooling system module 104, the robot module 105, the control module 106, etc. as needed, and ensures their normal operation. The power management module 107 may include an overcurrent protection device, an overheat protection device, a short circuit protection device, or a combination thereof. Each safety device may be configured to monitor the operating conditions of the system and take protective measures when an abnormal situation is detected, such as disconnecting the power supply, reducing the output power, starting the cooling system, and issuing an alarm signal.

[0165] The tenth feature of the present invention is that the control module 106 is connected to the multi-wavelength laser light source module 101, the cooling system module 104, and the image acquisition system 402, the distance sensor 403, the temperature sensor 404, the infrared imaging system 405, the posture adjustment module 406 and the robotic arm module 105 inside the treatment head 103, and analyzes the information fed back by each part and issues corresponding instructions.

[0166] The control module 106 includes a user interface 601, a data storage device 602, a communication interface 603, a fault self-checking system 604 and a remote diagnosis system 605, a data analysis and processing system 606, and the control module 106 is responsible for collecting feedback data from various parts of the system, analyzing and processing it, and finally issuing corresponding instructions to ensure the normal operation of the equipment, such as Figure 6 shown.

[0167] The user interface 601 of the control module 106 can input or modify treatment parameters through the touch screen display. The user interface 601 can also display feedback information provided by the control module 106, such as current temperature, current, voltage, treatment progress, etc., so that the user can monitor the treatment process in real time.

[0168] The data storage device 602 of the control module 106 is used to store treatment data, and the data storage device 602 includes a hard disk, a solid state drive, a flash drive, or a combination thereof. The data storage device 602 can be used to store treatment data, such as treatment parameters, system status information, user information, etc. The data storage device 602 communicates with the control module 106 to receive and store treatment data. The data storage device 602 can also be connected to the user interface 601 so that the user can access and view the stored data. For example, the user can view treatment records, system status information, user information, etc. through the user interface 601 to record and analyze treatment.

[0169] The communication interface 603 of the control module 106 is used to communicate with an external device. The communication interface 603 may include a USB interface, an Ethernet interface, a wireless communication interface, or a combination thereof. The communication interface 603 may be used to connect the control module 106 to a computer, a network, or other external device for data transmission and remote control. The user may access and control the module 106 through an external device, such as remotely setting treatment parameters, monitoring treatment progress, downloading treatment data, etc. The communication interface 603 may also be used to connect the system to the Internet for software updates, remote diagnosis, etc.

[0170] The fault self-checking system 604 of the control module 106 includes a sensor network for monitoring system parameters such as temperature, current, voltage, coolant flow rate, etc. The fault self-checking system 604 can analyze the data provided by the sensors and issue an alarm signal when an abnormal situation is detected.

[0171] The remote diagnostic system 605 of the control module 106 is used to remotely monitor and diagnose the status of the system. The remote diagnostic system 605 can be connected to the Internet through a communication interface to transmit the status data of the system to a diagnostic server. The diagnostic server can store and analyze the status data of the system and send an alarm signal when an abnormal situation is detected. The remote diagnostic system 605 can include a computer, a smart phone, a tablet computer or any other device that can be connected to the diagnostic server for remotely viewing the status information of the system and performing diagnosis.

[0172] The data analysis and processing system 606 in the control module 106 is responsible for executing instructions from various components, ensuring that the device can operate efficiently and stably by executing instructions, controlling device operations, performing calculations, managing caches, handling interrupts, and supporting multi-threading and concurrent processing.

[0173] The technical solution of the present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0174] Example

[0175] An embodiment of the present invention provides a non-contact, non-invasive laser fat reduction and body shaping robot system, comprising:

[0176] A laser light source module, used to output laser light in continuous and / or pulsed form and with different powers or energies according to the instructions of the control module, and transmit the laser light to the treatment head;

[0177] A cooling system module, used for spraying cold air to the treatment area according to the instruction of the control module;

[0178] The treatment head is fixed at the front end of the robotic arm, and is used to collect user-related data before treatment and send it to the control module; during treatment, the distance between the treatment head and the treatment area and the skin surface temperature of the treatment area, as well as the collected image of the treatment area, are monitored in real time and sent to the control module;

[0179] A mechanical arm, used to move and / or rotate to adjust the position and angle of the treatment head according to the instructions of the control module;

[0180] The control module is used to input the received treatment area image into a pre-trained segmentation mask model to obtain the segmentation mask of each layer before treatment, and then calculate the user's tissue layer thickness to formulate a treatment plan; during treatment, it is used to control the movement and / or rotation of the robot arm according to the real-time received distance, obtain the predicted temperature of subcutaneous tissue at different depths through a pre-built temperature prediction model according to the real-time received temperature data, and control the laser light source module and the cooling system module; it is also used to perform comparative analysis based on the real-time transmitted image, and control the robot arm to make reverse adjustments according to the slight movement of the human body;

[0181] The power management module is used to provide power to the laser light source module, cooling system module, robotic arm and control module, and take protective measures when an abnormality is detected.

[0182] The robot uses laser to evenly heat the fat reduction area, heating and maintaining the subcutaneous fat tissue at 42 to 47°C to induce apoptosis of fat cells. In the following 6-12 weeks, the fat cells are metabolized through the body's lymphatic system, thereby effectively reducing the number of fat cells. At the same time, because the laser thermal energy can stimulate the regeneration of dermal collagen, it can tighten the skin while reducing fat.

[0183] A non-contact laser fat reduction and skin tightening robot system, the structure of which is as follows Figure 7As shown, the system consists of a 1064nm semiconductor laser 701, a fat reduction robot treatment probe 702, a fat reduction robot mechanical arm 703, an air cooler 704, a fat reduction robot central control module CPU 705, a fat reduction robot power supply 706, a fat reduction robot device housing 707 and the like. Its working principle is as follows: the laser emitted by the 1064nm semiconductor laser 701 in the system is transmitted to the laser shaper in the treatment probe 702 through the laser optical fiber. The laser shaper shapes the laser into a 4cm×4cm square. The treatment probe 702, under the control of the mechanical arm 703, scans the area to be irradiated in turn. The distance sensor in the treatment probe 702 ensures that the treatment head always maintains a fixed distance from the skin. Due to the photothermal effect of the laser, the skin and fat tissue will gradually heat up. In order to ensure the stability of the skin surface temperature, the air cooler 704 cools the skin through the cooling nozzle in the treatment probe 702. The air volume and temperature of the cold air will be adjusted according to the feedback of the temperature sensor in the treatment probe 702 and the overall treatment area thermal map generated by the central control module CPU 705. The treatment probe 702 is equipped with an infrared imaging system, a posture sensor, an image acquisition system, etc. The central control module CPU705 in the system is connected to the 1064nm semiconductor laser 701, the air cooler 704, and the image acquisition system, distance sensor, temperature sensor, infrared imaging system, posture sensor and mechanical arm 703 inside the treatment probe 702, and analyzes and issues corresponding instructions based on the information fed back by each part. During the treatment process, the non-contact laser fat reduction robot system will evenly heat the entire treatment area, and dynamically adjust the posture of the treatment probe to ensure that the treatment spot is facing the skin surface, thereby ensuring the treatment effect. At the same time, it monitors the ability of the human body to move slightly, communicates with the control module and drives the mechanical arm to move accordingly to eliminate overlapping or missing treatment areas caused by slight movements of the user. To improve safety, this system is designed with a safety protection function, that is, the treatment probe always maintains a fixed safe distance from the skin surface. The system also cools the epidermis to avoid burns. The laser will heat the subcutaneous fat tissue and maintain it at 42 to 47°C to induce apoptosis of fat cells, and then metabolize the fat cells through the body's lymphatic system in the following 6-12 weeks, thereby effectively reducing the number of fat cells. At the same time, because the laser thermal energy can stimulate the regeneration of dermal collagen, it can reduce fat and tighten the skin at the same time.

[0184] The specific parameters of a non-contact laser fat reduction and skin tightening robot system are as follows: the laser light source module adopts a solid laser module with a wavelength of 1064nm and a maximum power of 150W; the laser transmission module adopts a square homogenized optical fiber, and the spot shaper in the treatment head includes a convex lens, a concave lens and a Fresnel lens. The light beam is converged after passing through the plano-convex lens, and then the light spot is expanded by a double concave lens to form a divergent conical light beam. The divergent conical light beam is focused by the Fresnel lens. Due to its special texture design, the Fresnel lens allows the light to be effectively concentrated when passing through the lens. When working at a working distance of 5cm, a 4cm×4cm square spot is formed.

[0185] The cooling system uses cold air cooling. The air is compressed by the compression device and then sprayed out through the refrigeration device to cool the treatment area. The rated power is 700W. It communicates with the host computer through the RS232 protocol to control its power switch, cold air speed and air volume. The wind speed is adjustable from 3 to 10m / s, and the cold air temperature is adjustable from minus 30 degrees to 0 degrees. The cold air is sent out by a braided hose with a diameter of 3.8cm, and the end of the hose is connected to the air cooling interface of the treatment head.

[0186] The robotic arm is a six-axis collaborative robotic arm with a working range of 922mm, a payload of 5kg, and a repeatability of ±0.02mm; the robotic arm communicates with the central processing system through the TCP / IP protocol and is controlled by the central processing system; the end of the robotic arm is connected to the side clamp of the treatment head, and the scanning of the treatment head is achieved by controlling the movement of the robotic arm.

[0187] The treatment head consists of an image acquisition system, a distance sensor, a temperature sensor, an infrared imaging system, a posture adjustment module and a robotic arm connection fixture; several infrared distance measuring sensors installed at the end of the treatment head return multiple distance information, and the posture adjustment module determines the direction and angle of rotation of the treatment head through an algorithm to ensure that the treatment head is facing the treatment surface. This module can keep the treatment head at maximum treatment efficiency while preventing laser leakage from causing harm to personnel; the temperature sensor uses an 80x62 infrared thermal sensor array, which is connected to the microcontroller of the infrared imaging system. The infrared imaging system generates a temperature image by processing the data array returned by the temperature sensor, thus obtaining a temperature monitoring system that is both accurate and has spatial resolution; the image acquisition system uses a binocular camera for acquisition and processing. By modeling the treatment area with the binocular camera before treatment, the treatment head can scan along the skin surface, monitor the user's slight movements, and drive the robotic arm for motion compensation.

[0188] like Figure 8 As shown, the specific operation process of a non-contact non-invasive laser fat reduction and body shaping robot system is as follows:

[0189] First, the user selects "Confirm treatment area" on the input interface, and then the CPU starts the binocular camera mounted on the robotic arm and controls the robotic arm to enter the drag mode. The operator drags the robotic arm to enable the binocular camera to model the treatment area. After modeling, the CPU divides the skin surface into several 4x4cm squares and plans the movement path of the robotic arm. After the path planning is completed, the operator selects "Start treatment" on the input interface, and the CPU drives the robotic arm to wait 5cm above the first small square in the movement path. After the robotic arm moves into place, it sends a positioning command to the CPU.

[0190] Then the CPU drives the air cooler to start, and the air cooler parameters are -30 degrees and 4 wind speeds. The robotic arm starts scanning along the motion path, and the infrared thermal imager and the air cooler located in the treatment probe at the end of the robotic arm are started at the same time to monitor the skin surface temperature. By reading the average temperature returned by the infrared thermal imager, after the overall temperature drops to 15 degrees, the CPU drives the laser to start generating a square light spot. From the time the robotic arm starts waiting to scan to the end of the scan, the ultrasonic sensor located in the treatment probe at the end of the robotic arm continuously returns the distance data between the probe and the skin to the CPU. The CPU controls the robotic arm to move down or up according to the distance, so that the two always maintain a distance of 5 cm. And during the scanning process, the binocular camera will monitor the slight movement of the treatment area, that is, the slight movement of the treatment user, and control the robotic arm to compensate for the movement through calculations by the CPU. The treatment starts in preheating mode. The laser is set to a higher power of power 1 under the control of the CPU. The infrared thermal imager monitors the surface temperature of the treatment area. When the average temperature of the skin surface reaches 36 degrees, it enters the hold mode. The CPU adjusts the laser power to a lower power of power 2. In the hold mode, the skin surface temperature should be maintained between 38 and 39 degrees. Every 5 seconds, the CPU queries the average value of the epidermal temperature: when the skin surface temperature is lower than 36 degrees, the laser power is adjusted to power 1, and the air cooler wind speed is 4; when the skin surface temperature is 36-37 degrees, the laser power is adjusted to the current power x1.2, and the air cooler wind speed is 4; when the skin surface temperature drops to 37-38 degrees, the laser power is adjusted to the current power x1.1, and the air cooler wind speed is 4; when the skin surface temperature is 38-39 degrees, the laser power remains unchanged, and the air cooler wind speed remains unchanged; when the skin surface temperature is 39-40 degrees, the laser power is adjusted to the current power x0.9, and the air cooler wind speed is 4;

[0191] When the skin surface temperature is 40-41 degrees, the laser power is adjusted to the current power x 0.8, and the air cooler wind speed is level 4; when the skin surface temperature exceeds 41 degrees, the laser stops working and the air cooler wind speed is adjusted to level 5; if the laser stops working, wait until the skin surface temperature drops below 36 degrees, the laser will continue to start, the power will be adjusted to power 1, and the above process will be repeated. After the laser is started for 20 minutes, turn off the laser and air cooler, drive the robot arm to move to the initial point, turn off the binocular camera, infrared thermal imager and ultrasonic sensor, and end the treatment.

[0192] Verification experiment:

[0193] We conducted a series of experiments using a non-contact laser fat reduction and skin tightening robotic system to treat a 10x10x4cm pig abdominal fat mass with laser treatment. The following is a summary of the experimental results, which aim to demonstrate the efficacy of the device.

[0194] In the experiment, the cooling temperature was set to -25 degrees, the cooling air volume was set to 8m / s, and the treatment head scanned the 8x8cm area of ​​the fat block at a constant speed. An infrared thermometer was used to keep the skin surface temperature at 38°C, 40°C and 42°C. When the temperature exceeded the target temperature, the irradiation was stopped. When the temperature dropped to a certain level, the irradiation continued and the treatment was maintained for 20 minutes.

[0195] During the experiment, we observed obvious oil spillage on the surface of the fat block. We attached oil-absorbing paper to the surface of the fat block without applying external force, absorbed the oil spilled on the surface, measured the mass of the oil-absorbing paper, and compared it with clean oil-absorbing paper, and obtained the following results:

[0196] When the average surface temperature was 38°C, the weight gain of the oil-absorbing paper reached 3.6% of the initial weight.

[0197] When the average surface temperature was 40℃, the weight gain of the oil-absorbing paper reached 9.3% of the initial weight.

[0198] When the average surface temperature was 42°C, the weight gain of the oil-absorbing paper reached 15.8% of the initial weight.

[0199] Additionally, we measured changes in subcutaneous fat thickness:

[0200] After treatment at 38°C for 20 minutes, the thickness of subcutaneous fat decreased from 13.10 mm to 11.62 mm, a decrease of 1.48 mm, with a reduction rate of 11.3%.

[0201] After treatment at 40°C for 20 minutes, the thickness of subcutaneous fat decreased from 12.95 mm to 10.75 mm, a decrease of 2.20 mm, with a reduction rate of 17.0%.

[0202] After treatment at 42°C for 20 minutes, the thickness of subcutaneous fat decreased from 13.22 mm to 9.44 mm, a decrease of 3.78 mm, with a reduction rate of 28.6%.

[0203] To assess the degree of skin tightening, we marked a circle with a diameter of 7 cm on the skin surface before treatment, with the center of the circle coinciding with the treatment center. Comparing the area of ​​the circle before and after treatment, we obtained the following results:

[0204] At an average surface temperature of 38°C, the marked area was reduced by 2.2% compared with before and after treatment.

[0205] At an average surface temperature of 40°C, the marked area was reduced by 3.7% compared with before and after treatment.

[0206] At an average surface temperature of 42°C, the marked area was reduced by 5.1% compared with before and after treatment.

[0207] The above experimental data show that the laser fat reduction and skin tightening device can significantly reduce the thickness of subcutaneous fat and tighten the skin at different temperatures, especially at 42°C. These results prove that the device has good feasibility and effectiveness in fat reduction and skin tightening.

[0208] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention is described in detail with reference to the embodiments, it should be understood by those skilled in the art that any modification or equivalent replacement of the technical solutions of the present invention does not depart from the spirit and scope of the technical solutions of the present invention and should be included in the scope of the claims of the present invention.

Claims

1. A non-contact, non-invasive laser fat reduction and body shaping robot system, characterized in that: include: Laser light source module, cooling system module, treatment head and robotic arm, as well as a control module deployed on the host computer; The laser light source module is used to output laser light in a continuous or pulsed form and with different powers or energies according to the instructions of the control module, and transmit the laser light to the treatment head; The cooling system module is used to spray cold air to the treatment area according to the instruction of the control module; The treatment head is fixed at the front end of the mechanical arm and is used to collect user-related data before treatment and send it to the control module; Used to send the real-time monitored distance between the treatment head and the treatment area, the skin surface temperature of the treatment area, and the collected image of the treatment area to the control module during treatment; The mechanical arm is used to move according to the instructions of the control module to adjust the position and angle of the treatment head; The control module is used to input the received treatment area image into a pre-trained segmentation mask model to obtain the segmentation masks of each layer before treatment, and then calculate the user's tissue layer thickness to formulate a treatment plan; during treatment, it is used to control the movement of the robot arm according to the real-time received distance, obtain the predicted temperature of subcutaneous tissue at different depths through a pre-built temperature prediction model according to the real-time received temperature data, and control the laser light source module and the cooling system module; it is also used to perform comparative analysis based on the real-time transmitted image, and control the robot arm to make reverse adjustments according to the slight movement of the human body; The temperature prediction model includes a five-layer model of the epidermis, the upper dermis, the vascular convection layer, the lower dermis and the fat layer. The thermal effect of the laser in the nth layer satisfies the following formula: Among them, n ranges from 1 to 5, corresponding to the epidermis, upper dermis, vascular convection layer, lower dermis and fat layer, ρ is the tissue density, ρ n is the tissue density of the nth layer, c n is the specific heat capacity of the nth layer, is the second-order spatial derivative of the temperature field, k n is the thermal conductivity of the nth layer, S n (r, z, t) is the heat source term of the nth layer, calculated according to the Lambert-Beer law, ρ4 is the tissue density of the subdermis, c4 is the specific heat capacity of the subdermis, is the blood perfusion rate of the nth layer, T art is the temperature of arterial blood, T ven is the temperature of the venous blood, i.e. the tissue temperature; By establishing the initial temperature of each layer and the heat transfer boundary conditions of heat conduction and heat convection between biological tissues, the above model is constrained to obtain the constraint solution of the specified layer; Among them, the heat conduction satisfies the following formula: in, is the heat flux density vector, in W / m2, k is the thermal conductivity of the medium, in W / (m·K), is the temperature gradient in K / m; The heat transfer by thermal convection satisfies the following formula: Q=ωbcbρb(Tb-T) Where Q is the heat removed by blood perfusion, in W, and ωb is the blood perfusion rate, in m 3 / s or ml / min, cb is the specific heat capacity of blood, the unit is J / (kg·K), ρb is the density of blood, the unit is kg / m 3 , Tb is the temperature of the blood in K or °C, and T is the temperature of the tissue; For the upper dermis, lower dermis and fat layer, the cell damage is monitored by the Arrhenius equation to prevent the damage of the upper dermis and lower dermis from being greater than 1, and at the same time ensure that the damage of the fat layer is greater than 1; According to the temperature value of each layer, the output power of the laser light source module is adjusted.

2. The non-contact, non-invasive laser fat reduction and body shaping robot system according to claim 1 is characterized in that: The laser light source module includes one or more laser sources, which are one or more of solid lasers, semiconductor lasers and fiber lasers.

3. The non-contact non-invasive laser fat reduction and body shaping robot system according to claim 1 or 2, characterized in that: The laser light source module transmits the laser to the treatment head through the transmission optical fiber and the optical fiber coupling head.

4. The non-contact non-invasive laser fat reduction and body shaping robot system according to claim 3 is characterized in that: The treatment head includes a light spot shaper, which is vertically fixed at the center of the treatment head and is used to expand and shape the light spot emitted by the transmission optical fiber into a light spot of a certain area. The light spot shaper includes: a transmission interface, a plano-convex lens, a biconcave lens and a Fresnel objective lens.

5. The non-contact non-invasive laser fat reduction and body shaping robot system according to claim 4 is characterized in that: The treatment head further comprises: an image acquisition unit, a distance sensor, a temperature sensor, an infrared imaging unit, a posture adjustment unit, a cooling spray unit and a posture adjustment unit, wherein: The distance sensor is an ultrasonic distance sensor, an infrared distance sensor, a laser distance sensor or an optical distance sensor; The posture adjustment unit adopts binocular camera technology to keep the treatment head parallel and aligned with the surface of the treatment area, or tangent to the treatment surface when the treatment surface is a curved surface.

6. The non-contact non-invasive laser fat reduction and body shaping robot system according to claim 1, characterized in that: The input of the segmentation mask model is a treatment area image, and the output is a segmentation mask. The segmentation mask model includes a convolutional neural network and a U-Net.

7. The non-contact non-invasive laser fat reduction and body shaping robot system according to claim 6, characterized in that: The method of obtaining the user's tissue layer thickness by calculation and formulating a treatment plan includes: The ultrasound image area is divided into grid areas. According to the mask information and the known conversion relationship between pixels and physical sizes, the thickness of the skin layer, dermis layer and fat layer corresponding to the unit grid area is calculated. The thickness calculation satisfies the following formula: Thickness = (last row index - first row index + 1) × pixel spacing Using the median filtering technique, the median value of the deep fat thickness of each scanned treatment area is selected as the normalized overall fat thickness of the area, and the treatment head path is planned in turn to formulate a treatment plan.

8. The non-contact, non-invasive laser fat reduction and body shaping robot system according to claim 1, characterized in that: The system also includes a power management module for providing power to the laser light source module, the cooling system module, the robotic arm and the control module, and taking protective measures when an abnormality is detected.

9. The non-contact non-invasive laser fat reduction and body shaping robot system according to claim 1, characterized in that: The control module includes a user interface, a data storage device, a communication interface, a fault self-checking unit and a remote diagnosis unit; wherein, The user interface is used to display the treatment status in real time and to provide the function of inputting and modifying treatment parameters; The data storage device is used to receive and store user-related data, treatment parameters and system status information, and provide a query function; The communication interface includes a USB interface, an Ethernet interface and a wireless communication interface; The fault self-checking unit is used to perform fault self-checking according to the temperature, current, voltage and coolant flow rate data provided by the sensor network; The remote diagnosis unit is used to connect to the Internet via a wireless communication interface, transmit the system status data to a diagnosis server, and realize remote diagnosis.

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